Add two new attributes to weld constraints:
- `anchor` determines the point of wrench application, in the frame of body2. - `tfratio` scales applied torques relative to applied forces. - Add visualisation of both anchor points to both weld and connect constraints. - Add a test model showing how the new weld parameters behave. PiperOrigin-RevId: 469190483 Change-Id: I20f6da85b09cd2c4c0b5d29eb8003eabb524e55e
This commit is contained in:
Alessio Quaglino
committed by
Copybara-Service
Copybara-Service
parent
f16a6e513d
commit
8ca5887c20
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<!-- Copyright 2021 DeepMind Technologies Limited
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<mujoco>
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<!--
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body2 is held by body1 through the weld constraint, so the force sensor on body1
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should register -2*gravity (for the weight of both bodies).
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-->
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<option gravity="1 2 3"/>
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<default>
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<!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
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<geom density="1000" size="0.05 0.05 0.05" type="box"/>
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</default>
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<worldbody>
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<body name="body1">
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<geom/>
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<site name="sensor"/>
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</body>
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<body name="body2" pos="1 2 3">
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<joint type="free"/>
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<geom/>
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</body>
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</worldbody>
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<equality>
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<weld body1="body1" body2="body2" anchor="0 0 0" tfratio="0"/>
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</equality>
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<sensor>
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<force site="sensor" user="-2 -4 -6"/>
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</sensor>
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</mujoco>
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@@ -0,0 +1,43 @@
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<!-- Copyright 2021 DeepMind Technologies Limited
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<mujoco>
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<!--
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body2 is held by body1 through the weld constraint, so the force sensor on body1
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should register 20 (for the weight of both bodies).
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-->
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<option gravity="0 0 -1"/>
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<default>
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<!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
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<geom size="0.05 0.05 0.05" type="box"/>
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</default>
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<worldbody>
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<body name="body1">
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<geom/>
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<site name="sensor"/>
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</body>
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<body name="body2" pos="0 0 -0.1">
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<joint type="slide" axis="0 0 1"/>
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<geom/>
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</body>
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</worldbody>
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<equality>
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<weld body1="body1" body2="body2" anchor="0 0 0" tfratio="0"/>
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</equality>
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<sensor>
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<force site="sensor" user="0 0 2"/>
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</sensor>
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</mujoco>
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+43
@@ -0,0 +1,43 @@
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<!-- Copyright 2021 DeepMind Technologies Limited
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<mujoco>
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<!--
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body2 is held by body1 through the weld constraint, so the force sensor on body1
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should register 20 (for the weight of both bodies), rotated into the y-z plane.
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-->
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<option gravity="0 0 -1"/>
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<default>
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<!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
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<geom size="0.05 0.05 0.05" type="box"/>
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</default>
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<worldbody>
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<body name="body1" euler="0 45 0">
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<geom/>
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<site name="sensor" euler="0 0 90"/>
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</body>
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<body name="body2" pos="0 0 -0.2">
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<joint type="slide" axis="0 0 1"/>
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<geom/>
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</body>
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</worldbody>
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<equality>
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<weld body1="body1" body2="body2" anchor="0 0 0" tfratio="0"/>
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</equality>
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<sensor>
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<force site="sensor" user="0 1.41421356237 1.41421356237"/>
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</sensor>
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</mujoco>
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+59
@@ -0,0 +1,59 @@
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<!-- Copyright 2021 DeepMind Technologies Limited
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<mujoco>
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<!--
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Same as force_free.xml, but with a distractor constraint.
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-->
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<option gravity="1 2 3"/>
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<default>
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<!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
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<geom size="0.05 0.05 0.05" type="box"/>
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</default>
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<worldbody>
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<body name="body0" pos="-3 0 0">
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<joint name="joint0" type="slide" axis="0 0 1"/>
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<geom/>
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</body>
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<body name="body1">
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<geom/>
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<site name="sensor"/>
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</body>
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<body name="body2" pos="1 2 3">
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<joint type="free"/>
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<geom/>
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</body>
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<body name="body3" pos="3 0 0">
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<geom/>
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<body name="body3b" pos="3 0 -1">
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<joint type="slide" axis="0 0 1" frictionloss="9"/>
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<geom/>
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</body>
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</body>
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<body name="body4" pos="4 0 0">
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<joint type="free"/>
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<geom/>
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</body>
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</worldbody>
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<equality>
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<joint joint1="joint0"/>
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<weld body1="body3" body2="body4"/>
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<weld body1="body1" body2="body2" anchor="0 0 0" tfratio="0"/>
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</equality>
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<sensor>
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<force site="sensor" user="-2 -4 -6"/>
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</sensor>
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</mujoco>
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@@ -0,0 +1,43 @@
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<!-- Copyright 2021 DeepMind Technologies Limited
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<mujoco>
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<!--
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body2 is free, but because it's offset on y it wants to rotate about x due to gravity on z. The
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connect prevents that, so the torque sensor should record the weight*offset of the second body.
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-->
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<option gravity="0 0 -1"/>
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<default>
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<!-- A cube of size 0.1^3 with density of 1000 has mass of 1. -->
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<geom size="0.05 0.05 0.05" type="box"/>
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</default>
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<worldbody>
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<body name="body1">
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<geom/>
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<site name="sensor"/>
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</body>
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<body name="body2" pos="0 2 0">
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<freejoint/>
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<geom/>
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</body>
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</worldbody>
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<equality>
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<weld body1="body1" body2="body2" anchor="0 0 0" tfratio="0"/>
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</equality>
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<sensor>
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<torque site="sensor" user="2 0 0"/>
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</sensor>
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</mujoco>
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Vendored
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<mujoco>
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<option>
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<flag contact="disable"/>
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</option>
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<default>
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<default class="static">
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<geom size=".5 .1 .5" rgba=".5 .7 .5 .3"/>
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</default>
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<default class="free">
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<geom type="box" size=".2" fromto="0 0 0 0 -2 0" rgba=".4 .7 .6 .3"/>
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</default>
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</default>
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<worldbody>
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<geom pos="0 0 -2" type="plane" size="10 10 .01"/>
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<light pos="0 0 20"/>
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<body name="box1" pos="-3 0 0">
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<geom type="box" class="static"/>
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</body>
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<body name="beam1" pos="-3 0 0">
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<freejoint/>
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<geom class="free"/>
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</body>
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<body name="box2" pos="-1 0 0">
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<geom type="box" class="static"/>
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</body>
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<body name="beam2" pos="-1 0 0">
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<freejoint/>
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<geom class="free"/>
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</body>
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<body name="box3" pos="1 0 0">
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<geom type="box" class="static"/>
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</body>
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<body name="beam3" pos="1 0 0">
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<freejoint/>
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<geom class="free"/>
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</body>
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<body name="box4" pos="3 0 0">
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<geom type="box" class="static"/>
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</body>
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<body name="beam4" pos="3 0 0">
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<freejoint/>
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<geom class="free"/>
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</body>
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</worldbody>
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<equality>
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<weld name="weak torques" body1="box1" body2="beam1" tfratio="0.002"/>
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<weld name="anchor no torques" body1="box2" body2="beam2" tfratio="0" anchor="0 -2 0"/>
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<weld name="relpose" body1="box3" body2="beam3" relpose="0 0 0 1 -.3 0 0"/>
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<weld name="relpose+anchor" body1="box4" body2="beam4" relpose="0 0 0 1 -.3 0 0" anchor="0 0 -1"/>
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</equality>
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</mujoco>
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